SoftGripping SoftGripper Manual de usuario

OPERATING

INSTRUCTIONS

SoftGripper and SoftActuators

Original Instructions

This document describes the usage of the SoftGripping SoftGripper and

SoftGripping SoftActuators

Revision 2.0

Date of Revision: 2022-01-21

SoftGripper and SoftActuators

Operating Instructions

info@soft-gripping.com Revision 2.0

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Tip: For your own safety, read the operating instructions and follow the warning and

safety instructions on the device and in the operating instructions. Keep the operating

instructions for future reference.

Tip: If you wish to get the operating manual in an additional language, please send us

your request and the corresponding product code via Email.

Warning! Not reading the manual properly can lead to injuries. Please mind the

warnings provided in the operating instructions.

Technical Support: Do you have questions about the installation or operation of your device?

Email: info@soft-gripping.com

Publisher: Wegard GmbH

Kirchenheide 18

22395 Hamburg

Germany

www.soft-gripping.com

www.soft-gripping.shop

Version: Product Code: Manual for all SoftGrippers and SoftActuators

Revision: 2.0

Date of Revision: 2022-01-21

Original Instructions

Errors and technical modification subject to change, you can find the newest version

on our homepage.

SoftGripper and SoftActuators

Operating Instructions

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Contents

1. About this document .................................................................................................................................................................................3

1.1. Applicable documents...................................................................................................................................................................3

2. Safety ................................................................................................................................................................................................................3

2.1. Intended use......................................................................................................................................................................................3

2.2. General safety information ........................................................................................................................................................3

3. Service ..............................................................................................................................................................................................................3

4. Accessories .................................................................................................................................................................................................... 3

5. Overview.........................................................................................................................................................................................................4

5.1. SoftGripper ........................................................................................................................................................................................5

5.2. SoftActuator...................................................................................................................................................................................... 6

6. Installation...................................................................................................................................................................................................... 7

6.1. SoftGripper........................................................................................................................................................................................ 8

Mounting or Replacing a SoftGripper Finger .............................................................................................................. 8

Mounting or Replacing a SoftGripper Robot Connector....................................................................................... 9

Install or Replace SoftGripper Accessories (Suction Cup, Spacer)................................................................. 10

Install a SoftGripper on Robot and pneumatic system......................................................................................... 10

6.2. SoftActuators................................................................................................................................................................................. 12

Mounting or Replacing a SoftActuator Finger ......................................................................................................... 13

Mounting or Replacing a SoftActuator Robot Connector.................................................................................. 13

Mounting or Replacing a SoftActuator Base to a Plate........................................................................................ 14

Install a SoftActuator on Robot and pneumatic system....................................................................................... 15

7. Starting Procedure .................................................................................................................................................................................. 16

8. Operation..................................................................................................................................................................................................... 16

9. Decommissioning..................................................................................................................................................................................... 17

10. Maintanance and Troubleshooting........................................................................................................................................... 17

11. Disassembly ......................................................................................................................................................................................... 17

12. Legal information............................................................................................................................................................................... 17

12.1. Damage in transit......................................................................................................................................................................... 17

12.2. Warranty and warranty conditions..................................................................................................................................... 17

12.3. Declaration of Conformity ...................................................................................................................................................... 18

12.4. Disposal ............................................................................................................................................................................................ 18

SoftGripper and SoftActuators

Operating Instructions

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1. About this document

This document describes the usage of the product, certain aspects of the device are described in other

documents and must be observed as well.

1.1. Applicable documents

You can find additional information in the Quick Installation Guides and data sheets. For all available

documentation visit our website or contact us directly.

2. Safety

2.1. Intended use

SoftGrippers and SoftActuators are used with roboter systems for pick and place tasks.

2.2. General safety information

•The product may only be used in its original status without unauthorized modifications.

•Only use the product if it is in perfect technical conditions.

•The use is intended inside building only.

•The use is only allowed for the intended use shown 2.1.

•Take the ambient conditions at the location of use into consideration.

3. Service

Contact our regional SoftGripping partners if you need technical support.

Or contact us directly under info@soft-gripping.com

4. Accessories

You can find all accessories in our catalogue or on our website.

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Operating Instructions

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5. Overview

Figure 1: SoftGripper and SoftActuator

SoftGripping comes in two editions: SoftGripper and SoftActuator.

SoftGripper are built from one piece. But you can switch the adapter for the specific robot and replace the

fingers. Angle and base remain unchangeable. Made for the selected gripping purpose. Designed for human-

robot interactions with Cobots and high-speed applications with delta or scara robots.

SoftActuator: Plates or aluminium profiles and SoftActuators are all you need for pick and place tasks with

industrial robots. Use the perfect plate for your application or design multi EoAT systems for your needs.

All SoftGripping Fingers are made of FDA approved silicon rubber. You can handle food safely. For special

hygienic requierements e.g. handling meats and fish you can optionally get SoftGrippers and SoftActuators in

hygienic version with special screws and seals and a special coating of the bases.

Finger Material

Silicone (FDA approved)

Operating Pressure

- 0.5 to 1.0 bar

Grip Force per Finger

5 N

Durability

> 10 Mio. Cycles @1.0 bar, 0.5 Hz

The Fingers are operated by compressed air in accordance with ISO 8573-1:2010 [7:4:4].

When applying overpressure (< 1,2 bar) to the fingers, they bend and the position “Grip” is set. Setting vacuum,

the fingers are be spread to the “Release” position. The fingers are “Relaxed” when no pressure or vacuum is

applied.

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Grip

Release

Relax

Figure 2: Three states of SoftGripping

5.1. SoftGripper

In the following modularity of SoftGripper is presented. It´s the Base, the Fingers and the Robot Connector.

These things are connected with a few screws and seals.

Here is an example with a 2-Finger parallel Gripper for a robot with ISO 9409-31,5-4-M5 flange.

We provide connectors for any robot. If you cannot find the connector on our website, please contact us

directly.

2 x Finger Shore

A60

SG.F60S

2 Finger Base

15° Cone Angle

SG.IN.P.F2.A67.D15

Robot Flange ISO 9409-31,5-4-M5

SG.IN.R31

SG.IN.P.F2.S60.A67.D15.R31

Figure 3: Modular Design of a SoftGripper

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Operating Instructions

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5.2. SoftActuator

The SoftGripping SoftActuator series is built for maximum flexibility. Actuators with single or multiple fingers

are used for light, adjustable and fast SoftGripper. SoftActuators can be mounted on our SoftGripping Plates or

you can build your own EoAT according to your needs.

2 Arm Plate

SG.AN.P2.A185

Mass 40 g

3 Arm Plate

SG.AN.P3.A185

Mass 50 g

4 Arm Plate

SG.AN.P4.A185

Mass 60 g

6 Arm Plate

SG.AN.P6.A185

Mass 75 g

8 Arm Plate

SG.AN.P8.A185

Mass 90 g

1-Finger SoftActuator

SG:AN.F1.S60

Mass 40 g

2-Finger SoftActuator

SG.AN.F2.S60

Mass 100 g

3-Finger SoftActuator

SG.AN.F3.S60

Mass 120 g

Figure 4: 4-Finger Gripper with SoftActuators

SoftGripper and SoftActuators

Operating Instructions

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6. Installation

For mechanical installation: Make sure to use the right screws and sealings and make sure to tighten the screws

with right torque, so no parts can disconnect during operation.

For pneumatical installation: Make sure to use the right diameter of tubing and your pneumatic setup not to

exceed the maximal operating pressure. Connect the tubing to the corresponding connectors. The number of

connections you have to make depends on the configuration of your SoftGripper. Verify, that all connections are

made, before operating the setup. The compressed air to operate the Controlbox and all our SoftGrippung

products must be in accordance with ISO 8573-1:2010 [7:4:4].

An unfavorable mounting position can impair the functionality of this product:

•Make sure to tighten the screws, so no parts can disconnect during operation.

•

Be sure not to handle SoftGrippers near sharp items or in corrosive

environments.

Warning!

Turn of all pneumatics, robots and moving parts before mounting or

unmounting the SoftGripper or disassembling it.

Keep the dangers of compressed air and the following points in mind:

•Make sure to connect and disconnect tubing while the compressor is turned

off.

•Do not bend the tubing excessively. The flow must be provided at any time.

•Check the tubing for leaks and abrasions. Verify that you are using suitable

tubing.

•Mind, that tubing with the right diameter must be used.

•The maximum input pressure should not be exceeded at any time.

MAXIMUM INPUT PRESSURE <1,2 bar

Warning! Injury caused by pressurized system. To minimize risks of injuries while

handling pneumatics:

•

Wear personal protective equipment (PPE) such as hearing and eye protection

at any time.

•

and operate high pressure equipment behind a blastshield.

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6.1. SoftGripper

Depending on the selected product, a SoftGripper comes assembled or unassembled. The following steps

shows you how to install your SoftGripper. These steps are also to be used for replacement of the components.

Mounting or Replacing a SoftGripper Finger

To replace a SoftGripper Finger, loosen the finger fixing screw Don the base (M3x20 ISO 7380 TX).

Take a new Finger G(Part No. SG.FI.S60).

For replacing we recommend to use a new 3x1 mm sealing J. The screw can be further used.

To mount a SoftGripper Finger at a base, use the truss head (TX) screw DM3x20 ISO 7380 and the 3x1 mm

sealing J. Use a torque screwdriver to mount with 0.7 Nm (0.5 lbf⋅ft). The sealing has to be placed in the groove at

the base before.

Robot Fixing Screws

Finger (Part No. SG.FI.S60)

Base

Sealing (28x1,5 mm)

Finger Fixing Screw

M3x20 ISO 7380 (TX) Truss Head

Air Supply Fingers/Suction Cup

For 6mm tubing

Robot Flange Connector

Base Fixing Screws (M5x8)

Air Supply Fingers

/Suction Cup

Sealing (3x1 mm)

Sealing

(5x1,5 mm)

Optional

Suction Cup

M5 Mounting

Thread for additional

accessories (e.g.

Suction Cup, Spacer)

Figure 5: Parts of a SoftGripper

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Mounting or Replacing a SoftGripper Robot Connector

To replace a SoftGripper Robot Connector B, loosen the both fixing screws A (M5x8) on top of the Robot

Connector.

For replacing we recommend to use new sealings K(2 pc. 5x1,5 mm , 1 pc. 28x1,5 mm). The screw can be further

used.

To mount a SoftGripper Robot Connector to a base, place the two seals 5x1,5 mm Kon the both sealing grooves

at the SoftGripper base. Place the 28x1,5 mm sealing Earound the flange between base and Robot Connector.

Place the Robot Connector on the SoftGripper base and fix it with the two M5x8 fixing screws A.

Sealing (3x1 mm)

Finger Fixing Screw

M3x20 ISO 7380 (TX)

Figure 6: Mounting a SoftGripper Finger

Sealing

(28x1,5 mm)

Sealing

(5x1,5 mm)

Base Fixing

Screws (M5x8)

Figure 7: Mounting SoftGripper Robot Connector

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